FRACTIONAL-ORDER PASSIVITY-BASED ADAPTIVE CONTROLLER FOR A ROBOT MANIPULATOR TYPE SCARA

摘要

In this paper, a novel fractional-order control strategy for the SCARA robot is developed. The proposed control is composed of [Formula: see text] and a fractional-order passivity-based adaptive controller, based on the Caputo–Fabrizio and Atangana–Baleanu derivatives, respectively; both controls are robust to external disturbances and change in the desired trajectory and effectively enhance the performance of robot manipulator. The fractional-order dynamic model of the robot manipulator is obtained by using the Euler–Lagrange formalism, as well as the model of the induction motors which are the actuators that drive their joints. Through simulations results, the effectiveness and robustness of the proposed control strategy have been demonstrated. The performance of the fractional-order proposed control method is compared with its integer-order counterpart, composed of the PI controller and the conventional passivity-based adaptive controller, reported in the literature. The performance comparison results demonstrate the superiority and effectiveness of the fractional-order proposed control strategy for a SCARA robot manipulator.